KR20230006582A - Machine control systems, programs, machines, systems and devices - Google Patents

Abstract

The machine control system 1 is configured on a real space, and on a virtual space having one or more machines 4 each realizing motion according to machine commands and one or more servers communicating with the one or more machines 4. Equipped with one or more controllers 100 that generate machine commands for one or more machines 4, respectively, each of the one or more controllers 100 executes a motion program with a control cycle, and the corresponding machine 4 A motion module 113 for generating a machine command for ), an addition unit 125 for adding first cycle information to the machine command, and a synchronous communication unit 114 for transmitting the machine command to the corresponding machine 4 Each of the one or more machines 4 has a terminal communication unit 314 that receives machine commands from one or more servers, and calls the machine commands with a machine-side control cycle corresponding to the first cycle information added to the machine commands. It has a machine-side timing adjustment unit 315.

Description

Machine control systems, programs, machines, systems and devices

The present disclosure relates to machine control systems, programs, machines, systems and devices.

Patent Document 1 discloses a system including a robot, a processing device, a robot controller that controls the robot, a processing device controller that controls the processing device, and a programmable logic controller that generates commands for the robot controller and the processing device controller. has been

Patent Document 1: Japanese Unexamined Patent Publication No. 2019-209454

The present disclosure provides a system effective for improving the reliability of synchronous communication between devices.

A machine control system according to one aspect of the present disclosure is configured on a real space and is mounted on a virtual space having one or more machines that realize motion according to machine commands, and one or more servers communicating with the one or more machines. , one or more controllers respectively controlling one or more machines, each of the one or more controllers executing a motion program with a control cycle, a motion module generating machine commands for corresponding machines, and a first cycle for the machine commands. It has an appending unit that adds information and a synchronous communication unit that transmits machine commands to corresponding machines, each of the one or more machines has a terminal communication unit that receives machine commands from one or more servers, and a terminal communication unit that transmits machine commands received by the terminal communication unit. and a machine-side timing adjusting unit that stores and calls the machine command with a machine-side control cycle corresponding to first cycle information added to the machine command.

A program according to another aspect of the present disclosure includes generating a machine command for a corresponding machine by executing a motion program with a control cycle, and specifying which machine-side control cycle to call the machine command in the corresponding machine. A controller that executes adding cycle information to the machine command and transmitting the machine command to which the first cycle information is added to the corresponding machine is mounted on a virtual space of a server communicating with the corresponding machine.

According to another aspect of the present disclosure, a machine includes a main body realizing motion, a terminal communication unit configured to communicate with a server constituting a virtual space in which a controller is mounted, and receiving a machine command to which cycle information is added by the controller from the server, and a terminal Based on a machine-side timing adjusting unit that stores the machine command received by the communication unit and calls the machine command in a control cycle corresponding to the cycle information added to the machine command, and the machine command called by the machine-side timing adjusting unit, The main body is provided with a machine control unit for realizing motion.

A system according to another aspect of the present disclosure includes a first device that repeats a first process, and a second device that communicates with the first device and repeats a second process, the first device performing the first process a first processing module for generating first information, a first addition unit for adding first cycle information to the first information, and a first communication unit for transmitting the first information to a second device, the second device comprising: , In the second communication unit that receives the first information from the first device, and the second processing of the cycle corresponding to the first cycle information added to the first information by storing the first information received by the second communication unit It has a timing adjustment unit that calls the first information, and a second processing module that executes a second process based on the first information called by the timing adjustment unit.

A device according to another aspect of the present disclosure includes a first processing module that repeats generating first information by first processing, and a second device that repeats second processing, in a second processing of a certain cycle. A first addition unit that adds first cycle information specifying whether to call first information to the first information, and a communication unit that transmits the first information to which the first cycle information is added by the first addition unit to a second device. to provide

A device according to another aspect of the present disclosure includes: a communication unit configured to receive, from the first device, first information generated by a first device repeating a first process and to which cycle information is added, from the first device; a timing adjustment unit that stores the received first information and calls the first information in a second process of a cycle corresponding to the cycle information added to the first information; and based on the first information called by the timing adjustment unit and a processing module that executes the second processing.

According to the present disclosure, it is possible to provide a system effective for improving the reliability of synchronous communication between devices.

1 is a schematic diagram illustrating a schematic configuration of a machine control system.
2 is a schematic diagram illustrating the configuration of a robot.
3 is a block diagram illustrating the functional configuration of a controller server.
4 is a block diagram illustrating the functional configuration of a controller.
5 is a block diagram illustrating the functional configuration of a local controller.
6 is a block diagram showing a modified example of the controller.
7 is a block diagram illustrating a functional configuration of a communication controller.
8 is a block diagram illustrating the hardware configuration of a controller server, a communication controller and a local controller.
9 is a timing chart illustrating a cycle generation sequence.
10 is a flowchart illustrating a cycle generation procedure in the controller.
11 is a flowchart illustrating a cycle generation procedure in the local controller.
12 is a flowchart showing a modified example of the cycle generation procedure in the local controller.
13 is a timing chart illustrating a machine control sequence.
14 is a flowchart illustrating a control procedure in the controller.
15 is a flowchart illustrating a control procedure in the controller.
16 is a flowchart illustrating a control procedure in the controller.
17 is a flowchart illustrating a control procedure in the local controller.
18 is a flowchart illustrating a control procedure in the local controller.
19 is a flowchart illustrating a control procedure in the local controller.
Fig. 20 is a schematic diagram showing a modified example of the machine control system.
Fig. 21 is a schematic diagram showing another modified example of the machine control system.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment is described in detail, referring drawings. In the description, the same reference numerals are attached to the same elements or elements having the same functions, and overlapping descriptions are omitted.

The system according to the present embodiment includes a plurality of devices that each repeatedly perform processing while communicating with each other. For communication between devices, there are cases in which synchronism with respect to processing cycles of each device is required. Hereinafter, communication synchronized with the processing cycle of each device is referred to as "synchronous communication".

In order to improve the reliability of synchronous communication, a system according to the present embodiment includes a first device that repeats a first process, and a second device that communicates with the first device and repeats a second process, The device includes a first processing module that generates first information by first processing, a first adding unit that adds first cycle information to the first information, and a first communication unit that transmits the first information to the second device. The second device has a second communication unit that receives the first information from the first device, and stores the first information received by the second communication unit to correspond to the first cycle information added to the first information. It has a timing adjustment unit that calls the first information in the second process of the cycle, and a second processing module that executes the second process based on the first information called by the timing adjustment unit.

If the fluctuation of the first reception timing in the second device increases, there is a possibility that maintaining synchronous communication becomes difficult. In contrast, according to the above system, the first information transmitted from the first device is buffered in the second device, and is called in the second processing of the cycle corresponding to the first cycle information. In this way, the function of buffering the first information until its use timing advances the transmission of the first information from the first device side, and uses the first information from the reception timing of the first information in the second device. You can have a margin in the period until the timing. With this margin, it is possible to absorb the fluctuations in reception timing that have been expanded due to communication conditions and the like, and call the buffered first information at an appropriate use timing. For this reason, reliability of synchronous communication can be improved.

The second processing module generates second information by second processing, the second device further has a second adding unit for adding second cycle information to the second information, and the second communication unit generates the second information. transmits to the first device, the first communication unit receives the second information from the second device, the first device stores the second information received by the first communication unit, and the second information added to the second information It further has a first timing adjustment unit that calls the second information in a first process of a cycle corresponding to the cycle information, wherein the first processing module performs the first processing based on the second information called by the first timing adjustment unit. You may also run In this case, reliability of bi-directional synchronous communication between the first device and the second device can be improved.

The first device and the second device may be devices mounted on a real space or devices mounted on a virtual space. A real space is a space in which real objects exist. A virtual space is a space represented by data to simulate a real space. Mounting a device on a virtual space means adding a program that simulates the function of the device in the virtual space to an apparatus constituting the virtual space.

Specific examples of the first device and the second device include controllers, machines, sensors, motors, and servo drivers mounted on real space. The first device and the second device may be a controller, machine, sensor, motor, servo driver, or the like mounted on a virtual space.

Communication between the first device and the second device may include wireless communication at least in part. When the communication between the first device and the second device includes wireless communication, the above-described effect of absorbing the variation in reception timing is more effective.

Hereinafter, as an example of this embodiment, the first device is a controller mounted on a virtual space, the second device is a machine mounted on a real space, and communication between the controller and the machine partially includes wireless communication. The machine control system is specifically exemplified.

[Machine control system]

The machine control system 1 shown in FIG. 1 is a system that controls a plurality of machines 4 based on calculation results transmitted from at least one controller server 2 via a wireless communication network. As an example of the machine control system 1, a production system that produces a work by cooperative motion of a plurality of machines 4 is exemplified. As shown in FIG. 1 , the machine control system 1 includes at least one controller server 2 , a communication server 3 , and a plurality of machines 4 .

The controller server 2 executes predetermined calculations in a control cycle. The controller server 2 has a plurality of controllers 100 (see Fig. 3). A plurality of controllers 100 are mounted on a virtual space in the controller server 2 and control the plurality of machines 4, respectively. One controller 100 corresponds to at least one machine 4 . One controller 100 may correspond to a plurality of machines 4, or a plurality of controllers 100 may correspond to one machine 4. Mounting on virtual space means adding a function as the controller 100 to an arithmetic device such as the controller server 2 by means of software. Functions as the controller 100 include obtaining information from the machine 4, generating machine commands based on the acquired information, and outputting the generated machine commands to the machine 4. The plurality of controllers 100 may be distributed among the plurality of controller servers 2 . Thereby, the calculation load of one controller server 2 is reduced.

The communication server 3 communicates with the controller server 2 through a wired communication network 8, communicates with a plurality of machines 4 through a wireless communication network 7, and communicates with the controller server 2 and a plurality of It relays information between machines 4. A specific example of the wired communication network 8 is a local area network such as Ethernet (registered trademark). As a specific example of the wireless communication network 7, a high-speed wireless communication network such as a fifth generation mobile communication system (5G) can be given. The communication server 3 may be provided in a place away from the controller server 2, may be provided in a place close to the controller server 2, or may be provided in the same case as the controller server 2.

The communication server 3 has a communication controller 200 and a wireless communication base station 201 . The communication controller 200 communicates with the controller server 2 through a wired communication network 8 and communicates with a plurality of machines 4 through a wireless communication base station 201 . The wireless communication base station 201 communicates with the wireless communication terminals 301 (described later) of the plurality of machines 4 via the wireless communication network 7 .

A plurality of machines 4 are configured on a real space, and each realizes a motion according to the calculation result of the controller server 2. For example, a plurality of machines 4 each realize motion according to the machine command. To realize motion means to displace at least one object in real space. Displacement includes movement and posture change. Further, displacement includes displacement within a space that cannot be visually recognized from the outside, such as within a case.

Each of the plurality of machines 4 has a machine body 10, a local controller 300, and a wireless communication terminal 301. The machine body 10 is a device that realizes motion. Any device may be used as the machine body 10, as long as it is a device that realizes motion based on the calculation result of the controller server 2. 1 shows a mobile robot 20, a stationary robot 30, an NC machine tool 60, an environmental sensor 70, and a conveyor 80 as specific examples of the machine body 10. there is. The mobile robot 20 is a robot capable of traveling independently, and includes an automatic guided vehicle 21 and a robot 22 . The automatic guided vehicle 21 travels autonomously according to the movement command included in the machine command. As a specific example of the automatic guided vehicle 21, an electric so-called AGV (Automated Guided Vehicle) can be cited. The robot 22 executes the work for the work according to the work command included in the machine command.

For example, the robot 22 is a 6-axis vertical articulated robot, and as shown in FIG. 2 , the base part 31, the turning part 32, the first arm 33, and the second arm 34 and, a third arm 35, a distal end portion 36, and actuators 41, 42, 43, 44, 45, and 46. The base portion 31 is fixed on the automatic guided vehicle 21 . The turning portion 32 is provided on the base portion 31 so as to turn around the vertical axis line 51 . The first arm 33 is connected to the pivot portion 32 so as to swing around an axis line 52 intersecting (for example, orthogonal to) the axis line 51 . Crossing also includes a case where there is a torsional relationship, such as a so-called three-dimensional cross. The second arm 34 is connected to the distal end of the first arm 33 so as to swing around an axis line 53 substantially parallel to the axis line 52 . The third arm 35 pivots about an axis 54 along the second arm 34 and swings about an axis 55 intersecting (eg orthogonal to) the axis 54 . ) is connected to the tip of the The distal end portion 36 is connected to the distal end portion of the third arm 35 so as to pivot around an axis line 56 intersecting (for example, orthogonally crossing) the axis line 55 . Various tools, such as suction nozzles, robot hands, or processing tools, are provided on the front end portion 36 depending on the application.

Actuators 41 , 42 , 43 , 44 , 45 , and 46 , including, for example, electric motors and speed reducers, drive the robot 22 . For example, the actuator 41 pivots the pivot 32 around the axis 51, the actuator 42 swings the first arm 33 around the axis 52, and the actuator 43 rotates the axis 53 ) swings the second arm 34 around the axis 54, the actuator 44 pivots the third arm 35 around the axis 54, and the actuator 45 pivots the third arm 35 around the axis 55 ) and the actuator 46 pivots the tip 36 around the axis 56 .

In addition, the specific structure of the robot 22 can be changed suitably. For example, the robot 22 may be a 7-axis redundant type robot in which one axis joint is added to the above 6-axis vertical articulated robot, or may be a so-called scalar type articulated robot. Also, the robot 22 may be a so-called parallel link type robot.

Returning to Fig. 1, the stationary robot 30 is stationary on a floor surface or the like of a work area. As a specific example of the stationary robot 30, like the robot 22, a vertical articulated robot, a scalar type articulated robot, a parallel link type robot, etc. are mentioned. The NC machine tool 60 performs machining such as cutting on a workpiece according to a machining command included in the machine command. The environment sensor 70 acquires the environment information of the system according to the sensing command included in the machine command. As a specific example of the environment sensor 70, a camera which acquires the environment image of a system, a temperature sensor which acquires the environment temperature of a system, etc. are mentioned. The conveyor 80 conveys the work according to the conveyance command included in the machine command. As a specific example of the conveyor 80, a belt conveyor, a roller conveyor, etc. are mentioned.

The local controller 300 communicates with the communication server 3 through a wireless communication terminal 301, and motions the machine body 10 according to machine commands obtained from the communication server 3 through the wireless communication terminal 301. make it come true Further, the local controller 300 feeds back the response information obtained from the machine body 10 to the communication server 3 via the wireless communication terminal 301 . The radio communication terminal 301 communicates with the radio communication base station 201 via the radio communication network 7 according to a command from the local controller 300 .

Since high-speed wireless communication has become possible due to practical use of the fifth generation mobile communication system (5G), the realization possibility of machine control through wireless communication is also increasing. In machine control, it is necessary to repeat generation of machine commands by executing a motion program and control of the machine 4 in accordance with the machine commands in a predetermined control cycle. As described above, when machine commands are transmitted and received via the wireless communication network 7, fluctuations in the reception timing of machine commands on the machine 4 side are magnified due to the wireless communication, so that the machine 4 side receives the machine commands. There is a possibility that reception in the control cycle becomes difficult. Further, when response information is transmitted and received via the wireless communication network 7, fluctuations in the reception timing of the response information on the controller 100 side are magnified due to wireless communication, and response information is transmitted from the controller 100 side to the control cycle. Reception may be difficult.

In contrast, the machine control system 1 transmits machine commands transmitted from the controller side (the controller 100 side of the wireless communication network 7) via the wireless communication network 7 until the timing of use, on the machine side (wireless communication network 7). It may be configured so as to perform buffering on the machine 4 side of the communication network 7). In this case, transmission of the machine command from the controller side can be advanced so that a margin is provided in the period from the timing of receiving the machine command on the machine side to the timing of using the machine command. With this margin, it is possible to absorb fluctuations in reception timing that have been expanded due to wireless communication, and to use buffered machine commands at timing synchronized with the control cycle.

Further, the machine control system 1 may be configured so that the controller side buffers response information transmitted from the machine side through the wireless communication network 7 until the timing of its use. In this case, it is possible to advance the transmission of response information from the machine side so that the period from the timing of receiving the response information on the controller side to the timing of using the response information can be provided with margin. With this margin, it is possible to absorb the fluctuations in reception timing that have been expanded due to wireless communication, and to use the buffered response information at timing synchronized with the control cycle.

As described above, according to the configuration in which machine instructions are buffered on the machine side until the use timing and response information is buffered on the controller side until the use timing, the machine by acquiring response information and executing a motion program based on the response information. It becomes possible to repeat generation of the command and control of the machine 4 according to the machine command in a control cycle.

Hereinafter, configurations of the controller 100, the communication controller 200, and the local controller 300 will be exemplified in more detail.

(controller)

The controller 100 receives response information transmitted by the corresponding machine 4 (hereinafter referred to as "supervised machine 4") from the communication server 3 via the wired communication network 8; Execute a motion program based on the received response information to generate machine instructions for the managed machine 4 and transmit the machine instructions to the communication server 3 via the wired communication network 8. Consists of.

For example, as shown in FIG. 4 , the controller 100 includes a program storage unit 111, a reception information storage unit 112, and a motion module 113 as a functional configuration (hereinafter referred to as “functional block”). ), a synchronous communication unit 114, and an asynchronous communication unit 115.

The program storage unit 111 stores motion programs. A motion program includes a plurality of motion commands in time series. The motion command is, for example, a displacement command to a target position/posture. The operation command may include designation of arrival time to the target position/posture, or may include designation of displacement speed to the target position/posture. The motion command may be a displacement command to a target speed. In this case, the motion command may include designation of a displacement period to the target speed.

The reception information storage unit 112 stores reception information from the communication controller 200 of the communication server 3 . The reception information includes the response information.

The motion module 113 executes a motion program with a control cycle to generate machine instructions for the machine 4 under its jurisdiction. For example, the motion module 113 executes a motion program to generate machine commands for the managed machine 4 repeatedly in a control cycle. Executing the motion program includes calculating machine commands to cause the motion of the governing machine 4 to follow the motion commands. The motion module 113 may execute a motion program based on the response information stored in the reception information storage unit 112. For example, the motion module 113 calculates the motion result of the competent machine 4 based on the response information stored in the reception information storage unit 112, and calculates a machine command so that the motion result follows the motion command. Specific examples of machine commands include speed commands and driving force commands (including torque commands).

The synchronous communication unit 114 transmits machine commands to the communication controller 200 via the wired communication network 8 . "Synchronous communication" means periodic communication synchronized with the control cycle. Synchronous communication includes communication executed every control cycle and communication executed every predetermined number of control cycles. As will be described later, the machine commands transmitted by the synchronization communication unit 114 are buffered in the local controller 300 of the managed machine 4 (hereinafter referred to as “supervised local controller 300”) and synchronized with the control cycle. called at one time. For this reason, transmission of the machine command itself by the synchronous communication unit 114 does not have to be synchronized with the control cycle.

The asynchronous communication unit 115 transmits asynchronous communication data for other nodes to other nodes through the wired communication network 8 without passing through the communication controller 200 . "Asynchronous communication" means communication in which synchronization with the control cycle is not essential, but may be synchronized with the control cycle. The other node may be another controller 100 or a node separate from the plurality of controllers 100 . As a specific example of the separate node, the application server 6 is mentioned (see FIG. 1). The application server 6 is a computer connected to the controller server 2 via a wired communication network 8 . The application server 6 may be included in the controller server 2 or may be included in the communication server 3 .

The application server 6 has a data collection application that collects and accumulates control information such as machine commands and response information from a plurality of controllers 100 . The application server 6 may further have a simulator application that simulates motions of the plurality of machines 4 on a virtual space based on the control information accumulated by the data collection application. The application server 6 may further have a learning application that generates a learned model by machine learning based on control information accumulated by the data collection application. A specific example of the learned model is a diagnostic model that outputs the degree of normality of the machine 4 according to input of control information, and the like. The application server 6 may further have an analysis application that generates output information such as the normality level and transmits the output information to the controller 100 based on the control information and the learned model. The asynchronous communication unit 115 may acquire execution results of simulator applications, learning applications, analysis applications, and the like from the application server 6 through the wired communication network 8 without going through the communication controller 200 .

The controller 100 may be configured to buffer the response information until the timing of its use. For example, the controller 100 further includes a controller-side timing adjustment unit 116 . The controller-side timing adjusting unit 116 stores the response information received from the competent machine 4 and calls the response information in a control cycle corresponding to the second cycle information added to the response information. The second cycle information is information indicating the use timing of the response information (e.g., the number of control cycles when the response information is used; hereinafter referred to as "the number of cycles in use"). The second cycle information may be the number of cycles in use itself or the number of control cycles of the local controller 300 having jurisdiction at the timing at which the response information was obtained (hereinafter referred to as "number of cycles in acquisition").

When the second cycle information is the number of cycles in use, the controller-side timing adjusting unit 116 calls the response information in a control cycle in which the number of control cycles is the number of cycles in use. Recalling the response information in a control cycle in which the number of control cycles is the number of cycles in use means calling the response information at a usable timing in the control cycle. For this reason, calling the response information prior to the control cycle so that it is used in the control cycle is included in calling the response information in the control cycle. When the second cycle information is the number of cycles at the time of acquisition, the controller-side timing adjusting unit 116 calculates the number of cycles in use based on the second cycle information (eg by adding a predetermined number), In the number of control cycles, the response information is called.

The controller-side timing adjustment unit 116 outputs the called response information to the synchronous communication unit 114, and the synchronous communication unit 114 stores the response information in the reception information storage unit 112. Accordingly, the motion module 113 of the controller 100 executes a motion program based on the response information called by the controller-side timing adjusting unit 116.

The controller 100 may be configured to further execute generating the control cycle and transmitting the cycle timing of the control cycle to the managing machine 4 . As will be described later, the cycle timing is used to generate a control cycle synchronized with the control cycle in the governing machine 4. For example, the controller 100 may further include a controller-side time generator 121, a controller-side cycle generator 122, a timing transmission unit 123, and a cycle counter 124.

The controller-side time generator 121 generates the controller-side time in synchronism with the time generated by the time server 5 (hereinafter referred to as “global time”). The time server 5 is a computer connected to the controller server 2 via the wired communication network 8, and outputs the global time. The time server 5 may be included in the controller server 2 or may be included in the communication server 3 . For example, the controller-side time generating unit 121 transmits information received from the time server 5 by the synchronization communication unit 114 through communication that guarantees time synchronization, such as TSN (Time Sensitive Networking) communication through the wired communication network 8. A global time is acquired, and the controller side time is generated in synchronism with the acquired global time. For example, the controller side time generator 121 matches the time counted by the timer 195 (described later) to the global time.

The controller-side cycle generation unit 122 generates a control cycle based on the controller-side time. For example, the controller-side cycle generation unit 122 sets the start timing of the control cycle based on the controller time, and repeatedly generates cycle pulses in the control cycle from the time when the controller-side time reaches the start timing.

The timing transmitter 123 transmits the cycle timing of the control cycle to the competent local controller 300 via the communication controller 200 . The cycle timing is information indicating the phase of the control cycle at the time of the control side. For example, the cycle timing is the generation timing of cycle pulses by the controller-side cycle generator 122 . The timing transmitter 123 may transmit the start timing as cycle timing to the local controller 300 in charge prior to the controller side cycle generator 122 starting generation of the control cycle, or the controller side cycle generator 123. After (122) starts generation of the control cycle, the generation timing of the second and subsequent cycle pulses may be transmitted to the competent local controller 300 as the cycle timing. The timing transmitter 123 may transmit the cycle timing to other controllers 100 as master timing. In this case, even if the controller-side cycle generation unit 122 of the other controller 100 acquires the master timing via the wired communication network 8 and generates a control cycle based on the acquired master timing and the controller-side time. good. For example, the controller side cycle generation unit 122 may set the start timing based on the acquired master timing.

The timing transmitter 123 transmits, to the local controller 300, the cycle timing later than the previously transmitted cycle timing when the machine-side timing adjustment unit 315 (described later) of the local controller 300 fails to generate a control cycle. You may transmit again. For example, the timing transmission unit 123 waits for reception of a set completion notification from the jurisdictional local controller 300, and when the controller side time reaches the cycle timing without receiving the set completion notification, the machine side timing adjustment unit 315 ) determines that generation of the control cycle has failed. The setting completion notification is a notification that the setting of the start timing in the competent local controller 300 has been completed.

The cycle counter 124 counts the number of control cycles (for example, the number of cycle pulses) generated by the controller side cycle generator 122 . The motion module 113 executes a motion program based on the number of control cycles counted by the cycle counter 124. For example, the motion module 113 changes the execution target from the currently executing motion command to the next motion command whenever the number of control cycles counts up.

The controller 100 may be configured to generate a communication cycle synchronized with the control cycle. For example, the controller 100 may further include a communication cycle generator 131 and a cycle counter 132 .

The communication cycle generator 131 generates a communication cycle synchronized with the control cycle. For example, the communication cycle generation unit 131 generates a communication cycle based on the controller side time and the cycle timing of the control cycle. For example, the communication cycle generation unit 131 sets a start timing synchronized with the control cycle start timing based on the cycle timing, and repeatedly generates cycle pulses in the communication cycle from the time when the controller side time reaches the start timing. . Also, the start timing synchronized with the start timing of the control cycle includes a start timing that is shifted from the control cycle start timing by a predetermined period (for example, half of the cycle length of the control cycle). The cycle length of the communication cycle is an integer multiple (including 1 time) of the cycle length of the control cycle. The cycle length of the communication cycle may be one integral of the cycle length of the control cycle.

The cycle counter 132 counts the number of communication cycles generated by the communication cycle generator 131 (for example, the number of cycle pulses). Since the communication cycle is generated synchronously with the control cycle, it is possible to detect the number of control cycles based on the number of communication cycles. Therefore, the controller-side timing adjusting unit 116 may call response information based on the number of communication cycles in a control cycle in which the number of control cycles becomes the number of cycles when used.

The controller 100 may be configured to add information indicating usage timing to the machine command. For example, the controller 100 may further include an adding unit 125 . The adding unit 125 adds first cycle information to the machine command. The first cycle information is information specifying in which machine-side control cycle a machine command is to be called in the controlled machine 4 . Having received the machine command to which the first cycle information is added, the local controller 300 having jurisdiction over the use timing (e.g., the number of control cycles when using the machine command) based on the first cycle information. ") is detected, and the machine command is buffered until the use timing. For example, the adding unit 125 calculates the number of cycles in use based on the number of current control cycles, and adds the number of cycles in use itself as first cycle information to the machine command. As an example, the adder 125 calculates the number of cycles in use by adding a predetermined number to the current number of cycles. The addition unit 125 may add the current number of control cycles as first cycle information to the machine command. In this case, the managing machine 4 calculates the number of cycles in use based on the first cycle information (for example, by adding a predetermined number).

The controller 100 may be configured to detect a transmission delay of the machine command based on first cycle information included in the machine command. Further, the controller 100 may be configured to detect a reception delay of the response information based on the second cycle information included in the response information. For example, the controller 100 may further include a cycle check unit 133 .

The cycle check unit 133 detects the transmission delay of the machine command based on the first cycle information included in the machine command. The transmission delay of the machine command means a delay of a level that does not match the call of the machine command by the local controller 300 . For example, the cycle check unit 133 detects transmission delay of the machine command when the current number of control cycles is greater than or equal to the number of cycles during use of the machine command when the synchronous communication unit 114 transmits the machine command. .

The cycle check unit 133 may detect a reception delay of the response information based on the second cycle information included in the response information. The reception delay of the response information means a delay at a level that does not match the call of the response information by the controller-side timing adjusting unit 116. For example, the cycle check unit 133, after receiving response information from the competent machine 4, detects a delay in receiving response information when the current number of control cycles is greater than or equal to the number of cycles in the use of the response information. .

As described above, since the communication cycle is generated synchronously with the control cycle, it is possible to detect the number of control cycles based on the number of communication cycles. Therefore, the cycle check section 133 may detect the transmission delay of the machine command based on the first cycle information and the number of communication cycles, and detect the delay in receiving the response information based on the second cycle information and the number of communication cycles. .

The cycle check unit 133 may cancel the transmission of the machine command when a transmission delay of the machine command is detected. For example, when the transmission delay of the machine command is detected, the controller-side timing adjusting unit 116 discards the machine command prior to transmission of the machine command to the communication controller 200 . When the cycle check unit 133 detects a reception delay of the response information, it may discard the response information.

The synchronous communication unit 114 may transmit synchronous communication data to the controller-side timing adjusting unit 116 of the other controllers 100 in the plurality of controllers 100 via the wired communication network 8 . As a specific example of the synchronous communication data, jurisdiction used to coordinate the motion of the jurisdiction machine 4 and the motion of the machine 4 (hereinafter referred to as "other machine 4") to which the other controller 100 corresponds. Status information of the machine 4 (for example, a machine command to the competent machine 4 or response information from the competent machine 4).

When the synchronous communication unit 114 transmits synchronous communication data to the controller-side timing adjusting unit 116 of the other controller 100, the adding unit 125 may add first cycle information to the synchronous communication data.

Upon receiving the synchronous communication data to which the first cycle information is added, the controller-side timing adjusting unit 116 of the other controller 100 determines the use timing of the synchronous communication data (e.g., the synchronous communication data) based on the first cycle information. The number of control cycles at the time of use (hereinafter referred to as "the number of cycles at use") is detected, and the synchronous communication data is buffered until the use timing. For example, the adding unit 125 calculates the number of cycles in use based on the number of current control cycles, and adds the number of cycles in use itself as first cycle information to the synchronous communication data. As an example, the adder 125 calculates the number of cycles in use by adding a predetermined number to the current number of cycles. The adding unit 125 may add the current number of control cycles (hereinafter referred to as “number of cycles during addition”) to the synchronous communication data as first cycle information.

The controller-side timing adjustment unit 116 of the other controller 100 stores the synchronous communication data and calls the synchronous communication data in a control cycle corresponding to the first cycle information added to the synchronous communication data. When the first cycle information is the number of cycles in use, the controller-side timing adjusting unit 213 calls the synchronous communication data in a control cycle in which the number of control cycles is the number of cycles in use. When the first cycle information is the number of cycles at the time of addition, the controller-side timing adjustment unit 213 calculates the number of cycles in use based on the first cycle information (for example, by adding a predetermined number), and the number of control cycles is the number of cycles in use. In the number of control cycles, the synchronous communication data is called.

The controller-side timing adjustment unit 116 outputs the called synchronous communication data to the synchronous communication unit 114, and the synchronous communication unit 114 stores the synchronous communication data in the reception information storage unit 112. Accordingly, the motion module 113 of the other controller 100 executes a motion program based on the response information called by the controller-side timing adjusting unit 116.

In this way, synchronous communication data is buffered in the controller-side timing adjusting unit 116 of the other controller 100, and is called at a timing synchronized with the control cycle. For this reason, the transmission itself of synchronous communication data by the synchronous communication unit 114 does not have to be synchronized with the control cycle.

When the data transmitted by the synchronous communication unit 114 includes synchronous communication data addressed to another controller 100, the cycle check unit 133 determines the synchronization based on the first cycle information included in the synchronous communication data. Transmission delay of communication data may be detected. The transmission delay of the synchronous communication data means a delay at a level that does not match the call of the synchronous communication data by the controller-side timing adjusting unit 116 of the other controller 100. For example, the cycle check unit 133 checks that, when the synchronous communication unit 114 transmits synchronous communication data, the number of control cycles corresponding to the current number of communication cycles is greater than or equal to the number of cycles during use of the synchronous communication data. Detect transmission delay of synchronous communication data. The cycle check unit 133 may cancel the transmission of the synchronous communication data when a transmission delay of the synchronous communication data is detected.

The cycle check unit 133 of the other controller 100 may detect the reception delay of the synchronous communication data based on the first cycle information included in the synchronous communication data. The reception delay of the synchronous communication data means a delay at a level that does not match the calling of the synchronous communication data by the controller-side timing adjusting unit 116. For example, when the cycle check unit 133 receives the synchronous communication data from the controller side timing adjusting unit 116, the current number of control cycles is equal to or greater than the number of use cycles of the synchronous communication data, the synchronous communication data detect the reception delay of The cycle check unit 133 may discard the synchronous communication data when it detects a reception delay of the synchronous communication data.

The controller 100 may be configured to switch the transmission destination of the data based on whether the data transmitted by the synchronous communication unit 114 is addressed to the competent machine 4 or to another controller 100. For example, the controller 100 has a switch 134 .

The switch 134 transmits the data to the competent local controller 300 through the communication server 3 when the data transmitted by the synchronous communication unit 114 is addressed to the competent machine 4, and the data is transmitted to another controller ( 100), the data is transmitted to the controller-side timing adjusting unit 116 of the other controller 100 via the wired communication network 8.

(local controller)

The local controller 300 is configured to execute receiving a machine command via the communication server 3 and realizing a motion in the machine main body 10 based on the machine command. For example, as shown in FIG. 5 , the local controller 300 includes, as functional blocks, a terminal communication unit 314, a machine-side timing adjustment unit 315, a command storage unit 311, a machine control unit 313, It has a response information storage unit 312.

The terminal communication unit 314 receives machine commands from the communication server 3 via the wireless communication network 7 . The command storage unit 311 stores machine commands received by the terminal communication unit 314 . The machine control unit 313 causes the machine body 10 to realize a motion based on the machine command stored in the command storage unit 311, obtains response information based on the motion realized by the machine body 10, and responds. stored in the information storage unit 312.

For example, the machine controller 313 makes the operation of the machine body 10 follow the machine command. For example, the machine control unit 313 drives the machine body 10 to reduce the deviation between the machine command stored in the command storage unit 311 and the past response information stored in the response information storage unit 312, and thereby Acquisition of response information of the following machine body 10 and storing it in the response information storage unit 312 is repeatedly executed in a machine-side control cycle. For example, the machine-side control cycle is a cycle having the same cycle length as the control cycle. As an example, when the machine command is a speed command, the machine control unit 313 drives the machine body 10 so that the operating speed indicated by the response information stored in the response information storage unit 312 follows the speed command. When the machine command is a driving force command, the machine control unit 313 drives the machine body 10 so that the driving force indicated by the response information stored in the response information storage unit 312 follows the driving force command.

The machine controller 313 may control the machine main body 10 with a machine cycle having a shorter cycle length than the machine-side control cycle. In each machine cycle, the machine control unit 313 drives the machine body 10 so as to reduce the deviation between the machine command and the past response information stored in the response information storage unit 312, and thereby the machine body ( The response information of 10) is acquired and stored in the response information storage unit 312. The cycle length of the machine cycle is, for example, one integral part of the cycle length of the machine-side control cycle.

For example, the machine controller 313 includes an intermediate controller 331 and a servo 332 . The intermediate controller 331 generates drive data (e.g., position command, speed command) for each actuator of the machine main body 10 so as to reduce the deviation between the machine command and the past response information stored in the response information storage unit 312. , or driving force command) as a machine cycle. The servo 332 outputs drive power to each actuator of the machine body 10 based on the drive data. The servo 332 may output drive power based on the drive data in a servo cycle having a shorter cycle length than the machine cycle. In addition, the machine control part 313 should just have at least one of the intermediate controller 331 and the servo 332. When the machine control unit 313 does not have the servo 332, the machine control unit 313 outputs the drive data to the machine body 10, and the machine body 10 controls the operation of each actuator based on the drive data. generate drive power. Further, when the machine controller 313 does not have the intermediate controller 331, the controller 100 generates the drive data as a machine command and transmits it to the machine 4 under its jurisdiction.

For example, when the machine body 10 is the mobile robot 20 or stationary robot 30, the intermediate controller 331 acquires machine commands including the target position, target posture, and target speed of the distal end 36. Thus, drive data including position commands and speed commands of the actuators 41, 42, 43, 44, 45, and 46 may be generated by inverse kinematics calculation. The intermediate controller 331 acquires machine commands including target positions and target speeds of the actuators 41, 42, 43, 44, 45, and 46, and the intermediate controller , 46) may generate drive data including the driving force command. Further, the intermediate controller 331 may generate drive data based on a plurality of machine commands arranged in time series.

The terminal communication unit 314 transmits the response information stored in the response information storage unit 312 to the communication server 3 via the wireless communication network 7 for each machine-side control cycle.

The local controller 300 may be configured to buffer machine commands until the timing of their use. For example, the local controller 300 further includes a machine-side timing adjusting unit 315 .

The machine-side timing adjusting unit 315 stores the machine command received by the terminal communication unit 314 and calls the machine command in a machine-side control cycle corresponding to the first cycle information added to the machine command. When the first cycle information is the number of cycles in use, the machine-side timing adjusting unit 315 calls the machine command in a machine-side control cycle in which the number of control cycles is the number of cycles in use. Calling the machine command in a machine-side control cycle in which the number of control cycles is the number of cycles in use means calling the machine command at an available timing in the machine-side control cycle. For this reason, calling the machine command prior to the machine side control cycle so that it is used in the machine side control cycle is included in calling the machine command in the machine side control cycle. When the first cycle information is the number of cycles at the time of addition, the machine-side timing adjusting unit 315 calculates the number of cycles in use based on the first cycle information (eg by adding a predetermined number), and calculates the number of control cycles as the number of cycles in use. In number of machine-side control cycles, the machine command is called.

The machine-side timing adjusting unit 315 stores the called machine command in the command storage unit 311 . In this way, control of the machine main body 10 by the machine control unit 313 is performed based on the machine command called by the machine-side timing adjusting unit 315.

The local controller 300 may be configured to generate a machine-side control cycle synchronized with a control cycle in the corresponding controller 100 . For example, the local controller 300 may further include a machine-side time generator 321, a machine-side cycle generator 322, and a cycle counter 323.

The machine-side time generator 321 generates the machine-side time in synchronism with the global time. For example, the machine-side time generator 321 acquires the global time received by the terminal communication unit 314 from the communication server 3 through communication that guarantees time synchronization, such as TSN communication via the wireless communication network 7. and generates the machine-side time in synchronism with the acquired global time. The machine-side time generator 321 may acquire the global time from the time server 5 or the corresponding controller 100 via the wired communication network 8 . For example, the machine-side time generator 321 adjusts the time counted by the timer 395 (described later) to the global time.

The machine-side cycle generation unit 322 acquires the cycle timing received from the communication server 3 by the terminal communication unit 314 via the wireless communication network 7, and based on the obtained cycle timing, the corresponding controller 100 ) generates a machine-side control cycle synchronized with the control cycle in For example, the machine-side cycle generator 322 generates a machine-side control cycle based on the machine-side time and cycle timing. For example, based on the cycle timing, the machine-side cycle generation unit 322 sets start timing synchronized with the start timing of the control cycle in the corresponding controller 100, and determines when the machine-side time reaches the start timing. From there, cycle pulses are repeatedly generated with the machine-side control cycle. The machine-side cycle generator 322 may transmit a set completion notification to the controller 100 when the start timing is set. The cycle length of the machine-side control cycle generated by the machine-side cycle generator 322 is the same as the cycle length of the control cycle in the controller 100 .

The cycle counter 323 counts the number of control cycles (for example, the number of cycle pulses) generated by the machine-side cycle generator 322 .

The local controller 300 may be configured to add information indicating a use timing to response information transmitted from the terminal communication unit 314 to the communication server 3. For example, the local controller 300 may further include an adding unit 324 . The adding unit 324 adds the second cycle information to response information. As described above, the response information transmitted by the terminal communication unit 314 is buffered in the controller-side timing adjustment unit 116 of the corresponding controller 100, and is called at timing synchronized with the control cycle. For this reason, the transmission itself of the response information by the terminal communication unit 314 does not have to be synchronized with the control cycle.

The local controller 300 may be configured to generate a machine cycle synchronized with a machine-side control cycle. For example, the local controller 300 further includes a local cycle generator 325 and a cycle counter 326 .

The local cycle generator 325 generates a machine cycle based on the machine-side time and cycle timing. For example, based on the cycle timing, the local cycle generator 325 sets the start timing synchronized with the start timing of the control cycle in the corresponding controller 100, and from the point when the machine side time reaches the start timing , which repeatedly generates cycle pulses with a machine cycle.

The cycle counter 326 counts the number of machine cycles generated by the local cycle generator 325 (for example, the number of cycle pulses).

(communication controller)

The controller-side timing adjustment unit 116, communication cycle generation unit 131, cycle counter 132, cycle check unit 133, and switch 134 are at least between the controller 100 and the communication controller 200 (controller ( 100) and within the communication controller 200). Hereinafter, a configuration in the case where the controller-side timing adjustment unit, communication cycle generation unit, cycle counter, cycle check unit, and switch are provided in the communication controller 200 will be exemplified. In this case, as shown in FIG. 6 , the controller 100 includes the controller-side timing adjustment unit 116, communication cycle generation unit 131, cycle counter 132, cycle check unit 133, and switch 134. It is better not to have it. As shown in FIG. 7 , the communication controller 200 has a controller-side communication unit 211, a machine-side communication unit 212, and a controller-side timing adjustment unit 213 as functional blocks.

The controller-side communication unit 211 receives a machine command or synchronous communication data from each of the plurality of controllers 100 through the wired communication network 8, and sends the wired communication network 8 to each of the controllers 100. ) to transmit response information or synchronous communication data.

The machine-side communication unit 212 transmits a machine command to each of the plurality of local controllers 300 via the wireless communication network 7, and from each of the plurality of local controllers 300, the wireless communication network 7 ) to obtain response information.

The controller-side timing adjustment unit 213 stores the response information acquired by the machine-side communication unit 212, and calls the response information in a control cycle corresponding to the second cycle information added to the response information. When the second cycle information is the number of cycles in use, the controller-side timing adjusting unit 213 calls the response information in a control cycle in which the number of control cycles is the number of cycles in use. Recalling the response information in a control cycle in which the number of control cycles is the number of cycles in use means calling the response information at a usable timing in the control cycle. For this reason, calling the response information prior to the control cycle so that it is used in the control cycle is included in calling the response information in the control cycle. When the second cycle information is the number of cycles at the time of acquisition, the controller-side timing adjusting unit 213 calculates the number of cycles in use based on the second cycle information (eg by adding a predetermined number), and calculates the number of control cycles as the number of cycles in use. In the number of control cycles, the response information is called.

The controller-side communication unit 211 transmits the response information called by the controller-side timing adjustment unit 213 to the corresponding controller 100 via the wired communication network 8 . The synchronous communication unit 114 of the corresponding controller 100 stores the received response information in the reception information storage unit 112. Accordingly, the motion module 113 of the corresponding controller 100 executes a motion program based on the response information called by the controller-side timing adjusting unit 213.

The communication controller 200 may be configured to generate a communication cycle synchronized with a control cycle of at least one of the plurality of controllers 100 . For example, the communication controller 200 may further include a time generator 221, a communication cycle generator 222, and a cycle counter 223.

The time generator 221 generates the communication server time in synchronism with the global time. For example, the time generator 221 obtains the global time received from the time server 5 by the controller-side communication unit 211 through communication that guarantees time synchronism, such as TSN communication via the wired communication network 8. , Synchronize with the acquired global time and generate the communication server time. For example, the controller side time generator 121 matches the time counted by the timer 296 (described later) to the global time. When the time server 5 is included in the communication server 3, the time generator 221 sets the global time itself as the communication server time.

The communication cycle generator 222 generates a communication cycle synchronized with the control cycle of at least one of the plurality of controllers 100 . For example, the communication cycle generator 222 generates a communication cycle based on the communication server time and the cycle timing transmitted from at least one of the plurality of controllers 100 to the local controller 300 in charge. For example, the communication cycle generation unit 222 sets the start timing synchronized with the control cycle start timing based on the cycle timing, and repeatedly generates cycle pulses in the communication cycle from the time when the communication server time reaches the start timing. . Also, the start timing synchronized with the start timing of the control cycle includes a start timing that is shifted from the control cycle start timing by a predetermined period (for example, half of the cycle length of the control cycle).

The communication cycle generation unit 222 may transmit a set completion notification to the controller 100 at the point in time when the start timing is set. The cycle length of the communication cycle is an integer multiple (including 1 time) of the cycle length of the control cycle. The cycle length of the communication cycle may be one integral of the cycle length of the control cycle.

The cycle counter 223 counts the number of communication cycles generated by the communication cycle generator 222 (for example, the number of cycle pulses). Since the communication cycle is generated synchronously with the control cycle, it is possible to detect the number of control cycles based on the number of communication cycles. Therefore, the controller-side timing adjusting unit 213 may call response information based on the number of communication cycles in a control cycle in which the number of control cycles becomes the number of cycles when used.

The communication controller 200 may be configured to generate the master timing. For example, the communication controller 200 may have a timing master 224 . Timing master 224 generates master timing based on the communication server time. The timing master 224 transmits the generated master timing to at least one of the plurality of controllers 100 via the wired communication network 8 .

When the communication controller 200 has a timing master 224 and at least one of the plurality of controllers 100 generates a control cycle based on the master timing, the communication cycle generator 222 determines the communication server time, Generates communication cycles based on master timing. For example, the communication cycle generator 222 may set the start timing based on the master timing. Generation of a control cycle in at least one of the plurality of controllers 100 and generation of a communication cycle in the communication controller 200 are performed based on the same master timing, so that the communication cycle is synchronized with the control cycle. .

The communication controller 200 may be configured to detect a transmission delay of the machine command based on first cycle information included in the machine command. Further, the communication controller 200 may be configured to detect a reception delay of the response information based on the second cycle information included in the response information. For example, the communication controller 200 may further include a cycle check unit 225 .

The cycle check unit 225 detects the transmission delay of the machine command based on the first cycle information included in the machine command. The transmission delay of the machine command means a delay of a level that does not match the call of the machine command by the local controller 300 . For example, the cycle check unit 225 determines that, before the machine side communication unit 212 transmits the machine command to the local controller 300, the number of control cycles corresponding to the current number of communication cycles is greater than or equal to the number of cycles during use of the machine command. If it is, the transmission delay of the machine command is detected.

The cycle check unit 225 may detect a reception delay of the response information based on the second cycle information included in the response information. The reception delay of the response information means a delay of a level that does not match the call of the response information by the controller-side timing adjusting unit 213. For example, the cycle check unit 225 checks that, after the machine-side communication unit 212 receives the response information from the machine 4, the number of control cycles corresponding to the current number of communication cycles is greater than or equal to the number of used cycles of the response information. In this case, the reception delay of the response information is detected.

As described above, since the communication cycle is generated synchronously with the control cycle, it is possible to detect the number of control cycles based on the number of communication cycles. Therefore, the cycle check section 225 may detect a transmission delay of the machine command based on the first cycle information and the number of communication cycles, and may detect a reception delay of the response information based on the second cycle information and the number of communication cycles. .

The cycle check unit 225 may cancel transmission of the machine command by the machine-side communication unit 212 when a transmission delay of the machine command is detected. For example, when the cycle check unit 225 detects a transmission delay of the machine command, it discards the machine command prior to transmission of the machine command by the machine-side communication unit 212. The cycle check unit 225 may discard the response information when it detects a reception delay of the response information.

The communication controller 200 may be configured to switch the transmission destination of the data based on whether the data received from the controller 100 is addressed to the competent machine 4 or another controller 100. In this case, the controller 100 may be configured to add a destination to the data to be transmitted to the communication controller 200. For example, the communication controller 200 has a switch 226 .

The switch 226, if the data received by the controller-side communication unit 211 from one controller 100 is directed to the competent machine 4, the local jurisdiction through the wireless communication network 7 by the machine-side communication unit 212. The data is transmitted to the controller 300, and if the data is forwarded to the other controller 100, the controller-side communication unit 211 transmits the data to the other controller 100 through the wired communication network 8. let it

When the switch 226 causes synchronous communication data to be transmitted to another controller 100 by the controller-side communication unit 211, the controller-side timing adjustment unit 213 stores the synchronous communication data and adds it to the synchronous communication data. The synchronous communication data is called in the control cycle corresponding to the first cycle information. When the first cycle information is the number of cycles in use, the controller-side timing adjusting unit 213 calls the synchronous communication data in a control cycle in which the number of control cycles is the number of cycles in use. When the first cycle information is the number of cycles at the time of addition, the controller-side timing adjustment unit 213 calculates the number of cycles in use based on the first cycle information (for example, by adding a predetermined number), and the number of control cycles is the number of cycles in use. In the number of control cycles, the synchronous communication data is called.

The controller-side communication unit 211 transmits the synchronous communication data called by the controller-side timing adjustment unit 213 to another controller 100 as a destination via the wired communication network 8. The synchronous communication unit 114 of the other controller 100 stores the received synchronous communication data in the reception information storage unit 112 . As a result, the motion module 113 of the other controller 100 executes a motion program based on the synchronous communication data called by the controller-side timing adjustment unit 213.

When the data received by the controller-side communication unit 211 from the controller 100 includes synchronous communication data addressed to another controller 100, the cycle check unit 225 determines the first cycle information included in the synchronous communication data. Based on this, the reception delay of the synchronous communication data may be detected. The reception delay of the synchronous communication data means a delay at a level that does not match the calling of the synchronous communication data by the controller-side timing adjustment unit 213. For example, the cycle check unit 225 determines, after the controller side communication unit 211 receives the synchronous communication data from the controller 100, the number of control cycles corresponding to the current number of communication cycles is the number of use cycles of the synchronous communication data. In the case of an abnormality, the reception delay of synchronous communication data is detected. The cycle check unit 225 may discard the synchronous communication data when it detects a reception delay of the synchronous communication data.

8 is a block diagram illustrating the hardware configuration of the controller server 2, the communication controller 200 and the local controller 300. As shown in FIG. 8 , the controller server 2 has a circuit 190 . The circuit 190 has a processor 191 , a memory 192 , a storage 193 , a wired communication port 194 , and a timer 195 . The number of each component of the circuit 190 is not limited to one.

The storage 193 receives the response information transmitted by the competent machine 4 from the communication server 3 via the wired communication network 8, and executes a motion program based on the received response information, A program for causing the controller server 2 to execute generating machine commands for the machine 4 and transmitting the machine commands to the communication server 3 via the wired communication network 8 is stored. The control method that the program causes the controller server 2 to execute further comprises: storing the received response information and calling the response information in a control cycle corresponding to the second cycle information added to the response information; also good In this case, executing the motion program based on the received response information includes executing the motion program based on the response information called in the control cycle corresponding to the second cycle information. For example, the storage 193 stores programs for configuring the controller server 2 with each functional block of the controller 100 described above.

The memory 192 temporarily stores programs and the like loaded from the storage 193 . Processor 191 executes the program loaded into memory 192 while temporarily storing calculation results in memory 192 . The wired communication port 194 communicates with the communication controller 200 through the wired communication network 8 according to instructions from the processor 191 . The timer 195 measures elapsed time by counting clock pulses.

The communication controller 200 has a circuit 290 . The circuit 290 has a processor 291 , a memory 292 , a storage 293 , a wired communication port 294 , a wireless communication port 295 , and a timer 296 .

The storage 293 receives machine commands from each of the plurality of controllers 100 through the wired communication network 8, and for each of the plurality of machines 4 through the wireless communication network 7. Sending machine commands, receiving response information from each of the plurality of machines 4 through the wireless communication network 7, and transmitting the wired communication network 8 to each of the plurality of controllers 100 A program for causing the communication controller 200 to execute a communication method including transmitting response information via The communication method that the program causes the communication controller 200 to execute further comprises: storing the received response information and calling the response information in a control cycle corresponding to the second cycle information added to the response information; also good In this case, transmitting the response information via the wired communication network 8 includes transmitting the response information called in the control cycle corresponding to the second cycle information. For example, the storage 293 stores programs for configuring each of the aforementioned functional blocks in the communication controller 200 .

The memory 292 temporarily stores programs and the like loaded from the storage 293 . Processor 291 executes the program loaded into memory 292 while temporarily storing calculation results in memory 292 . The wired communication port 294 communicates with the controller server 2 through the wired communication network 8 according to instructions from the processor 291 . The wireless communication port 295 communicates with the local controller 300 through the wireless communication base station 201 and the wireless communication terminal 301 according to instructions from the processor 291 . The timer 296 measures elapsed time by counting clock pulses.

The local controller 300 has a circuit 390 . The circuit 390 has a processor 391 , a memory 392 , a storage 393 , a wireless communication port 394 , a timer 395 , and a driver circuit 396 .

The storage 393 causes the local controller 300 to execute a control method including receiving a machine command via the communication server 3 and realizing a motion in the machine main body 10 based on the machine command. I remember the program. The control method causing the program to be executed by the local controller 300 further includes storing the received machine command and calling the machine command in a machine-side control cycle corresponding to first cycle information added to the machine command. may contain In this case, realizing the motion of the machine body 10 based on the machine command causes the motion of the machine body 10 to be realized based on the machine command called in the machine-side control cycle corresponding to the first cycle information. including realizing For example, the local controller 300 stores programs for configuring each of the aforementioned functional blocks in the local controller 300 .

The memory 392 temporarily stores programs and the like loaded from the storage 393 . The processor 391 executes the program loaded into the memory 392 while temporarily storing the calculation result in the memory 392 . The wireless communication port 394 communicates with the communication controller 200 through the wireless communication terminal 301 and the wireless communication base station 201 according to instructions from the processor 391 . The timer 395 measures elapsed time by counting clock pulses. The driver circuit 396 supplies driving power to the machine body 10 according to a command from the processor 391 .

[Machine Control Procedure]

Subsequently, as an example of the machine control method, a machine control procedure executed by the machine control system 1 is exemplified. This sequence includes cycle generation sequences such as control cycles and communication cycles, and machine control sequences in the generated cycles.

(Overview of Cycle Creation Sequence)

The cycle generation sequence includes the controller 100 generating a control cycle, and the local controller 300 generating a machine-side control cycle synchronized with the control cycle.

Fig. 9 is a timing chart illustrating an outline of the cycle generation sequence, and the horizontal axis of each chart represents the elapsed time. (i) shows the information processing timing in the time server 5, (ii) shows the information processing timing of control cycle generation in the controller 100, (iii) shows the information processing timing in the controller 100 Information processing timing for generating a communication cycle is shown, (iv) shows information processing timing in the radio communication terminal 301, and (v) shows information processing timing in the local controller 300.

First, at time pt1, the time server 5 transmits the global time to the controller 100. The controller 100 receives the global time at time pt2 and generates the controller side time synchronized with the received global time. The wireless communication terminal 301 receives the global time at time pt5, and the local controller 300 sets the machine side time synchronized with the global time received by the wireless communication terminal 301 to the time pt6. create in

The controller 100 sets the control cycle start timing to time pt11 based on the controller side time, and sets the communication cycle start timing to time pt12. The wireless communication terminal 301 receives cycle timing from the communication controller 200 via the wireless communication base station 201 at time pt13, and the local controller 300 receives the cycle timing from the wireless communication terminal 301. Based on the cycle timing, the start timing coincident with the above start timing is set at time pt14.

After that, the controller 100 starts generating the control cycle c1 at the time point pt21 corresponding to the start timing, and starts generating the communication cycle c2 at the time point pt22 corresponding to the start timing. Generation is started, and the local controller 300 starts generation of the control cycle (c3) at a time point (pt23) corresponding to the start timing. With the above, the cycle generation sequence is completed.

Hereinafter, in the cycle generation sequence, the control cycle and communication cycle generation sequence executed by the controller 100 and the control cycle generation sequence executed by the local controller 300 are exemplified in detail.

(Cycle generation sequence in the controller)

10 is a flowchart illustrating a cycle generation procedure in the controller 100. As shown in Fig. 10, the controller 100 first executes steps S01, S02, S03, S04, and S05. In step S01, the controller side time generator 121 waits for reception of the global time by the synchronous communication unit 114. In step S02, the controller-side time generating unit 121 generates the controller-side time in synchronism with the global time received by the synchronous communication unit 114. In step S03, the controller-side cycle generation unit 122 sets the control cycle start timing based on the controller-side time. Further, the communication cycle generation unit 131 sets the start timing of the communication cycle based on the time on the controller side. In step S04, the controller-side cycle generation unit 122 sets the start flag of the control cycle to "not start". In step S05, the timing transmitter 123 transmits the cycle timing of the control cycle (eg, the start timing) to the local controller 300 having jurisdiction over the communication server 3. The timing transmitter 123 may transmit the cycle timing to other controllers 100 as master timing.

Next, the controller 100 executes step S06. In step S06, the timing transmission unit 123 checks whether or not a setting completion notification has been received from the local controller 300 in charge. In step S06, when it is determined that a setting completion notification has been received from the local controller 300, the controller 100 executes step S07. In step S07, the controller-side cycle generation unit 122 sets the start flag of the control cycle to "startable".

Next, the controller 100 executes step S08. In step S06, if it is determined that a setting completion notification has not been received from the competent local controller 300, the controller 100 executes step S08 without executing step S07. In step S08, the controller-side cycle generator 122 checks whether the control-side time has reached the start timing.

In step S08, if it is determined that the time on the control side has not reached the start timing, the controller 100 returns the process to step S06. Thereafter, acknowledgment of the set completion notification is repeated until the time on the control side reaches the start timing.

In step S08, when it is determined that the time on the control side has reached the start timing, the controller 100 executes step S09. In step S09, the controller-side cycle generating unit 122 checks whether or not the start flag is "startable".

In step S09, if it is determined that the start flag is not "startable", the controller 100 returns the process to step S03. In this way, the processing after the start timing is set is executed again. In step S09, when it is determined that the start flag is "startable", the controller 100 executes step S11. In step S11, the controller-side cycle generator 122 starts generating control cycles, and the timing transmitter 123 starts counting the number of control cycles. In addition, the communication cycle generator 131 starts generating a communication cycle, and the cycle counter 132 starts counting the communication cycle. With the above, the control cycle generation procedure in the controller 100 is completed. Further, in step S11, the communication cycle generation unit 131 may start generation of the communication cycle at a timing different from the start of generation of the control cycle by the controller side cycle generation unit 122.

(Control cycle generation sequence in the local controller)

11 is a flowchart illustrating a cycle generation procedure in the local controller 300. As shown in Fig. 11, the local controller 300 first executes steps S31, S32, and S33. In step S31, the machine-side time generator 321 waits for reception of the global time by the terminal communication unit 314. In step S32, the machine-side time generating unit 321 generates the machine-side time in synchronism with the global time received by the terminal communication unit 314. In step S33, the machine-side cycle generator 322 waits for the terminal communication unit 314 to receive the cycle timing (eg, the start timing) transmitted by the corresponding controller 100.

Next, the local controller 300 executes steps S34, S35, S36, S37 and S38. In step S34, based on the cycle timing received by the terminal communication unit 314, the machine-side cycle generator 322 sets the start timing synchronized with the start timing of the control cycle in the corresponding controller 100. . In step S35, the machine-side cycle generator 322 transmits a setting completion notification to the controller 100. In step S36, the machine-side cycle generator 322 waits for the machine-side time to reach the start timing. In step S37, the machine-side cycle generator 322 starts generating machine-side control cycles, and the cycle counter 323 starts counting the number of control cycles. In step S38, the local cycle generator 325 starts generating machine cycles, and the cycle counter 326 starts counting the number of machine cycles. In the above, the control cycle generation procedure in the local controller 300 is completed.

(Modified example of cycle generation sequence)

As described above, the controller 100 may acquire the master timing via the wired communication network 8 and generate a control cycle based on the acquired master timing and the controller side time. 12 is a flowchart showing a cycle generation sequence based on master timing. As shown in Fig. 12, the controller 100 first executes steps S51, S52, and S53. In step S51, the controller-side time generator 121 waits for reception of the global time by the synchronous communication unit 114. In step S52, the controller-side time generating unit 121 generates the controller-side time in synchronism with the global time received by the synchronous communication unit 114. In step S53, the controller-side cycle generating unit 122 waits for the synchronous communication unit 114 to receive the master timing.

Next, the controller 100 executes steps S55, S56, S57 and S58. In step S55, the controller side cycle generator 122 sets the start timing synchronized with the master timing. In step S56, the controller-side cycle generation unit 122 transmits a set completion notification to the communication controller 200. In step S57, the controller-side cycle generation unit 122 waits for the controller-side time to reach the start timing. In step S58, the controller-side cycle generator 122 starts generating controller cycles, and the timing transmitter 123 starts counting the number of control cycles. With the above, the control cycle generation procedure in the controller 100 is completed.

(Overview of Machine Control Sequences)

The machine control procedure is that the controller 100 executes a motion program with a control cycle to generate a machine command for the machine 4 under its control, adds first cycle information to the machine command, and transmits the machine command to a communication controller. 200, the communication controller 200 receiving the machine command, sending the machine command to the competent local controller 300, and the competent local controller 300 receiving the machine command from the communication controller 200. Receiving a machine command, storing the received machine command, and calling the machine command in a machine-side control cycle corresponding to the first cycle information added to the machine command, and based on the called machine command, It includes realizing motion in the machine body 10.

In addition, the machine control procedure includes acquiring response information based on the motion realized by the machine body 10 by the local controller 300, adding second cycle information to the response information, and sending information to the communication controller 200. Transmitting response information, and the communication controller 200 or controller 100 storing the received response information and calling the response information in a control cycle corresponding to the second cycle information added to the response information. and, based on the called response information, the controller 100 may further include executing a motion program.

Fig. 13 is a timing chart illustrating the outline of machine control procedures, and the horizontal axis of each chart represents elapsed time. (i) shows the information processing timing in the motion module 113, (ii) shows the information processing timing in the synchronous communication section 114, and (iii) shows the information processing timing in the controller side timing adjustment section 116 Indicates the information processing timing, (iv) indicates the information processing timing in the terminal communication section 314, (v) indicates the information processing timing in the machine side timing adjustment section 315, and (vi) indicates the machine control section Information processing timing in 313 is shown.

13 , cycles c11, c12, and c13 are control cycles sequentially generated by the controller-side cycle generator 122, and cycles c21, c22, and c23 are cycles c11, c12, and c13. These are communication cycles sequentially generated by the communication cycle generator 131 in synchronization, and the cycles c31, c32, and c33 are sequentially generated by the machine-side cycle generator 322 in synchronization with the cycles c11, c12, and c13. It is a machine-side control cycle.

For example, the motion module 113 executes the motion program at time t10 of the cycle c11 to generate machine commands. This machine command is transmitted by the synchronous communication unit 114 at time t11 and received by the terminal communication unit 314 at time t12. The machine command received by the terminal communication unit 314 is stored by the machine-side timing adjusting unit 315 at time t13, and the machine-side control cycle corresponding to the first cycle information added to the machine command (e.g., cycle ( Called in c33)). Then, based on the called machine command, at time t14 of cycle c33, the machine control unit 313 causes the machine body 10 to realize motion. Due to wireless communication, the time t12 fluctuates, but the fluctuation of the time t12 is absorbed by the margin from the time t12 to the time t14, and the time t14 synchronized with the control cycle. machine command is used.

The machine controller 313 acquires response information based on the motion realized by the machine main body 10 at time t110 in cycle c31. This response information is transmitted by the terminal communication unit 314 at time t111, stored by the controller side timing adjustment unit 116 at time t112, and corresponds to the second cycle information added to the response information. It is called in a control cycle (e.g., cycle c13). The called response information is stored in the reception information storage unit 112 by the synchronous communication unit 114 at the time t113 immediately before the cycle c13, and based on the response information stored in the reception information storage unit 112, , at time t114 of the cycle c13, the motion module 113 executes the motion program. Due to wireless communication, the time t112 fluctuates, but the fluctuation of the time t112 is absorbed by the margin from the time t112 to the time t114, and the time t114 synchronized with the control cycle. response information is used.

Hereinafter, the machine control sequence is divided into a control sequence in the controller 100 and a control sequence in the local controller 300, and illustrated in detail.

(Control procedure in the controller)

Control procedures in the controller 100 include data reception procedures and data generation/transmission procedures. The order of receiving data and the order of generating/transmitting data are repeatedly executed in parallel. The data reception sequence does not necessarily have to be executed synchronously with the control cycle, but the data generation/transmission sequence is executed synchronously with the control cycle.

14 is a flow chart illustrating a data receiving sequence. As shown in Fig. 14, the controller 100 first executes steps S91 and S92. In step S91, the synchronous communication unit 114 waits for data reception from the communication controller 200. In step S92, the cycle check unit 133 checks whether or not there is any data reception delay. For example, the cycle check unit 133 checks whether or not there is a transmission delay of the response information based on the second cycle information added to the response information.

In step S92, if it is determined that there is a reception delay of data, the controller 100 executes step S93. In step S93, the cycle check unit 133 discards the data.

In step S92, if it is determined that there is no data reception delay, the controller 100 executes step S94. In step S94, the cycle check unit 133 stores the data in the controller-side timing adjustment unit 116. After executing steps S93 and S94, the controller 100 returns the process to step S91. The communication controller 200 repeats the above procedure.

15 is a flowchart illustrating a data generation/transmission procedure. The controller 100 first executes steps S71, S72, S73, S74 and S75. In step S71, the motion module 113 waits for the cycle counter 124 to count up the number of control cycles. In step S72, the controller-side timing adjusting unit 116 calls received data (e.g., response information and synchronous communication data) corresponding to the number of cycles in use corresponding to the current number of control cycles. In step S73, the motion module 113 executes the motion program to generate machine instructions for the managed machine 4. For example, the motion module 113 calculates the motion result of the competent machine 4 based on the response information stored in the reception information storage unit 112, and calculates a machine command so that the motion result follows the motion command. In step S74, the adding unit 125 adds the first cycle information to the machine command. In step S75, the synchronous communication unit 114 transmits a machine command to the communication server 3 via the wired communication network 8. Details of processing in step S75 will be described later.

Next, the controller 100 executes steps S76, S77 and S78. In step S76, the synchronous communication unit 114 generates synchronous communication data. In step S77, the adding unit 125 adds the first cycle information to the synchronous communication data. In step S78, the synchronous communication unit 114 transmits synchronous communication data to the communication server 3 via the wired communication network 8. Details of processing in step S78 will be described later. After that, the controller 100 returns the process to step S71. The controller 100 repeats the above procedure.

Fig. 16 is a flowchart illustrating the data transmission procedure in steps S75 and S78. As shown in Fig. 16, the controller 100 first executes step S82. In step S82, the cycle check unit 133 checks whether or not there is any data transmission delay. For example, the cycle check unit 133 checks whether or not there is a transmission delay of the machine command based on the first cycle information added to the machine command, and based on the first cycle information added to the synchronous communication data, Check whether or not there is a transmission delay of communication data.

In step S82, if it is determined that there is a transmission delay of data, the controller 100 executes step S83. In step S83, the cycle check unit 133 discards the data.

In step S82, if it is determined that there is no data transmission delay, the controller 100 executes step S84. In step S84, the switch 134 checks whether the data is sent to the competent machine 4 or another controller 100.

In step S84, if it is determined that the data is addressed to the competent machine 4, the communication controller 200 executes step S85. In step S85, the switch 134 transmits the data to the competent machine 4 via the communication server 3.

In step S84, when it is determined that the data is addressed to the other controller 100, the communication controller 200 executes step S86. In step S86, the switch 134 transmits the data to the controller-side timing adjusting unit 116 of the other controller 100 via the wired communication network 8. After executing steps S83, S85 and S86, the controller 100 returns the process to step S82. The controller 100 repeats the above procedure.

(Control procedure in the local controller)

The control sequence in the local controller 300 includes a machine command reception sequence, a timing adjustment sequence, and a machine control sequence. These are repeatedly executed in parallel. The control sequence of the machine command does not necessarily have to be executed synchronously with the control cycle, but the timing adjustment sequence is executed synchronously with the control cycle. Machine control procedures are executed synchronously with the machine cycle.

17 is a flow chart illustrating a sequence of receiving machine commands. As shown in Fig. 17, the local controller 300 executes steps S111 and S112. In step S111, the terminal communication unit 314 waits for reception of a machine command. In step S112, the machine-side timing adjusting unit 315 stores the machine command. After that, the local controller 300 returns the process to step S111. The local controller 300 repeats the above procedure.

18 is a flowchart illustrating a timing adjustment sequence. As shown in Fig. 18, the local controller 300 executes steps S121, S122, S123, and S124. In step S121, the machine-side timing adjusting unit 315 waits for the cycle counter 323 to count up the number of control cycles. In step S122, the machine-side timing adjusting unit 315 calls a machine command corresponding to the number of cycles in use and the current number of control cycles, and stores it in the command storage unit 311. In this way, the machine command stored in the command storage unit 311 is updated. In step S123, the adding unit 324 adds the first cycle information to the response information stored in the response information storage unit 312. In step S124, the terminal communication unit 314 transmits response information to the communication controller 200 via the wired communication network 8. After that, the local controller 300 returns the process to step S121. The local controller 300 repeats the above procedure.

19 is a flow chart illustrating a machine control sequence. As shown in Fig. 19, the local controller 300 first executes steps S131 and S132. In step S131, the machine controller 313 waits for the cycle counter 326 to count up the number of machine cycles. In step S132, the cycle counter 326 checks whether or not the machine command stored in the command storage unit 311 has been updated.

In step S132, when it is determined that the machine command stored in the command storage unit 311 has been updated, the local controller 300 executes step S133. In step S133, the cycle counter 326 resets the number of machine cycles to an initial value (eg zero).

Next, the local controller 300 executes step S134. In step S132, when it is determined that the machine command stored in the command storage unit 311 has not been updated, the local controller 300 executes step S134 without executing step S133. In step S134, the machine control unit 313 generates drive data so as to reduce the deviation between the machine command and the response information stored in the response information storage unit 312.

Next, the local controller 300 executes steps S135 and S136. In step S135, the machine control unit 313 drives the machine body 10 based on the driving data. In step S136, the machine control unit 313 acquires response information based on the motion realized by the machine body 10 and stores it in the response information storage unit 312. After that, the local controller 300 returns the process to step S131. The local controller 300 repeats the above procedure.

[Effects of the present embodiment]

As described above, the machine control system 1 includes one or more machines 4 configured in real space and realizing motion according to machine commands, respectively, and one or more machines 4 mounted in virtual space. ) and a communication server communicating with one or more controllers 100 respectively controlling one or more controllers 100 through a wired communication network 8 and communicating with one or more machines 4 through a wireless communication network 7 (3), wherein each of the one or more controllers 100 includes a motion module 113 that executes a motion program with a control cycle and generates a machine command for a corresponding machine 4; Each of the one or more machines 4 has an addition unit 125 that adds cycle information and a synchronous communication unit 114 that transmits machine commands to the communication server 3, and receives machine commands from the communication server 3. A receiving terminal communication unit 314 and a machine side that memorizes the machine command received by the terminal communication unit 314 and calls the machine command in the machine side control cycle corresponding to the first cycle information added to the machine command. It has a timing adjustment unit 315.

Since high-speed wireless communication has become possible due to practical use of the fifth generation mobile communication system (5G), the realization possibility of machine control through wireless communication is also increasing. In machine control, it is necessary to repeat generation of machine commands by executing a motion program and control of the machine in accordance with the machine commands in a predetermined control cycle. When the generated machine command is transmitted via a wireless communication network, there is a possibility that the variation in the reception timing of the machine command on the machine side is magnified due to the wireless communication, making it difficult for the machine side to receive the machine command in a control cycle. According to the present machine control system 1, machine commands transmitted from the communication server 3 via the wireless communication network 7 are buffered on the machine 4 side, and the machine side control cycle corresponding to the first cycle information is called because In this way, the function of buffering the machine command until its use timing advances the transmission of the machine command from the controller 100 side, from the timing of receiving the machine command in the machine 4 to the timing of using the machine command. You can have some leeway in the period of With this margin, it is possible to absorb the fluctuations in reception timing that have been expanded due to wireless communication, and to call buffered machine commands in the machine-side control cycle. For this reason, in a system in which machine commands are transmitted via wireless communication, it becomes possible to repeat generation of machine commands by executing a motion program and control of the machine according to the machine commands in a control cycle. Therefore, it is effective for realizing machine control through wireless communication.

Each of the one or more machines 4 causes the machine body 10 to realize the motion, based on the machine body 10 that realizes the motion and the machine command called by the machine-side timing adjusting unit 315, Further comprising a machine control unit 313 that acquires response information based on the motion realized in (10) and an addition unit 324 that adds second cycle information to the response information, the terminal communication unit 314 transmits the response information transmission to the communication server 3, and the machine control system 1 stores the response information received from the one or more machines 4 between the one or more controllers 100 and the communication server 3, and the response information and a controller-side timing adjusting unit (116, 213) that calls the response information in a control cycle corresponding to the second cycle information added to Based on the response information called by , the motion program may be executed. In this case, the response information transmitted from the machine 4 via the wireless communication network is buffered on the side of the controller 100, and is called in the control cycle corresponding to the first cycle information. In this way, the function of buffering the response information until its use timing advances the transmission of response information from the machine 4 side, and the period from the reception timing of the response information on the controller 100 side to the use timing of the response information. can give you some leeway. With this margin, it is possible to absorb the fluctuations in reception timing that have been expanded due to wireless communication, and to call the buffered response information in a control cycle. For this reason, in a system in which response information is transmitted through radio communication, it becomes possible to repeat reception of response information in a control cycle. Therefore, it is more effective for realizing machine control through wireless communication.

Each of the one or more controllers 100 further has a timing transmitter 123 that transmits the cycle timing of the control cycle to the corresponding machine 4, and each of the one or more machines 4, based on the cycle timing, It may further include a machine-side cycle generation unit 322 that generates a machine-side control cycle synchronized with the control cycle in the corresponding controller 100. In this case, after the synchronization processing based on the cycle timing, a machine-side control cycle synchronized with the control cycle in the controller 100 is generated in the machine 4 . For this reason, the machine side control cycle in the machine 4 can be easily synchronized with the control cycle in the controller while suppressing the burden of wireless communication.

Each of the one or more controllers 100 generates a controller-side time generator 121 that generates the controller-side time in synchronism with the time generated by the time server 5, and a control cycle based on the controller-side time. Each of the one or more machines 4 further has a machine-side time generator 321 that generates machine-side time in synchronism with the time generated by the time server. , The machine-side cycle generation unit 322 may generate a machine-side control cycle based on the time generated by the machine-side time generation unit 321 and the cycle timing. In this case, even if a change occurs in the reception timing of the cycle timing in the machine 4 by performing the time alignment in the controller 100 and the machine 4 in advance, based on the machine side time, the machine The machine-side control cycle in (4) can be generated at an appropriate timing.

The timing transmission unit 123 transmits the cycle timing later than the previously transmitted cycle timing to the machine 4 again, when the machine-side cycle generation unit 322 of the corresponding machine 4 fails to generate the machine-side control cycle. You may send. In this case, the machine side control cycle in the machine 4 can be synchronized with the control cycle in the controller 100 with higher reliability.

The machine control unit 313 may control the machine body 10 with a machine cycle having a cycle length shorter than the control cycle based on a machine command called by the machine-side timing adjustment unit 315 . In this case, it is possible to achieve both the constant periodicity of calling machine commands by the control cycle and the appropriate control of the machine by the more subdivided machine cycle.

The machine control system 1 may include a plurality of controllers 100 as one or more controllers, and each of the plurality of controllers 100 may have a controller side timing adjusting unit 116 . In this case, while synchronous communication is possible between each of the plurality of controllers 100 and the machine 4 under control, control cycles are synchronized between a plurality of pairs of the controller 100 and the machine 4 using the same network. The need is lowered, and the system can be easily configured.

If the data to be transmitted by the synchronous communication unit 114 of one controller 100 in the plurality of controllers 100 is directed to the corresponding machine, the data is sent to the corresponding machine 4 via the communication server 3. and if the data is forwarded to the other controller 100, the switch 134 for transmitting the data to the controller-side timing adjusting unit 116 of the other controller 100 via the wired communication network 8 is further provided. good. In this case, the synchronous communication between the controller 100 and the machine 4, the synchronous communication between the controller 100, and the synchronous communication unit 114 can be appropriately distinguished and used.

One controller 100 may further include an asynchronous communication unit 115 that transmits asynchronous communication data for other nodes including other controllers 100 to other nodes via the wired communication network 8 . In this case, communication resources for synchronous communication can be saved.

At least one of the plurality of controllers 100 may further include a controller-side cycle generator 122 that generates a control cycle based on master timing received via the wired communication network 8 . In this case, control cycles can be easily synchronized between the controllers 100 .

The communication server 3 has a timing master 224 that generates master timing, and the controller side cycle generating unit 122 may receive the master timing from the timing master 224 . In this case, the same setting for generating a control cycle based on the timing master generated by the timing master 224 of the communication server 3 can be employed in any one of the plurality of controllers 100 whose control cycles are to be synchronized. there is. For this reason, addition/deletion of the controller 100 to the system is easy.

Between the one or more controllers 100 and the communication server 3, a cycle check unit 133 or 225 for detecting a transmission delay of the machine command based on the first cycle information included in the machine command may be further provided. good. In this case, reliability of transmission of machine commands synchronized with the control cycle can be improved.

The cycle check unit 133 may cancel the transmission of the machine command when a transmission delay of the machine command is detected. In this case, by canceling the transmission of machine commands that do not match the call in the control cycle, resources for radio communication in the communication server 3 can be saved.

Between the one or more controllers 100 and the communication server 3, a cycle check unit 133 or 225 for detecting a reception delay of the response information based on the second cycle information included in the response information may be further provided. good. In this case, it is possible to detect response information that does not match the call in the control cycle in advance, and to prevent omission of response information by substituting, for example, response information called immediately before.

Between the one or more controllers 100 and the communication server 3, a communication cycle generation unit 131, 222 for generating a communication cycle synchronized with the control cycle of at least one of the one or more controllers 100 is further provided, The cycle check section 133, 225 may detect transmission delay of the machine command based on the first cycle information added to the machine command and the cycle information of the communication cycle. In this case, detection of the transmission delay by the cycle check units 133 and 225 can be easily performed.

[Modified example of machine control system]

The machine control system 1 is mounted on a virtual space of at least one or more machines 4 and one or more servers communicating with the one or more machines 4, and controls the one or more machines 4, respectively. As long as the above controller 100 is provided, the machine control system 1 can be changed appropriately. For example, as shown in Fig. 20, the wireless communication network 7 may be replaced with a wired communication network 7A. In this case, in FIGS. 5, 7 and 8, the wireless communication base station 201 and the wireless communication terminal 301 interposed between the communication controller 200 and the local controller 300 become unnecessary. In Fig. 9, processing of the radio communication terminal 301 executed at times pt5 and pt13 is also unnecessary. As shown in Fig. 21, the communication server 3 may be replaced with a communication hub 3A such as a switching hub, for example. In this case, the timing master 224 possessed by the communication server 3 is connected to one or more servers other than the communication server 3 (e.g., the controller server 2, the time server 5, or the application server 6). It may be provided in any one of them.

20 and 21, even when the communication between the controller 100 and the machine 4 does not include wireless communication, the storage 193 executes a motion program with at least a control cycle, so that the motion program for the corresponding machine Generating a machine command, adding first cycle information specifying which machine-side control cycle to invoke the machine command in the corresponding machine 4 to the machine command, and adding the machine command with the first cycle information A program for mounting the controller 100 that executes transmission to the corresponding machine 4 on the virtual space of the controller server 2 communicating with the corresponding machine 4 is stored. The storage 193 causes the corresponding machine 4 to receive response information to which the second cycle information is added from the corresponding machine 4, stores the received response information, and stores the response information added to the response information. In the control cycle corresponding to the 2-cycle information, it further executes calling the response information, executes a motion program based on the called response information, and places a controller that generates machine commands in the virtual space of the controller server 2. You may store a program to be implemented in .

As mentioned above, although embodiment was described, this indication is not necessarily limited to the above-mentioned embodiment, and various changes are possible within the range which does not deviate from the summary.

One… machine control system, 2 . . . controller server, 4 . . . machine, 3 . . . communication server, 100 . . . controller, 8... wired communication network, 7 . . . wireless communication network, 10 . . . machine body, 113 . . . motion module, 114 . . . synchronous communication unit, 115 . . . asynchronous communication unit, 121 . . . Controller-side time generation unit, 122 . . . Controller-side cycle generation unit, 123 . . . timing transmitter, 5 . . . time server, 125 . . . Bugaboo, 211... Controller-side communication unit, 212 . . . Machine side communication unit, 116, 213... Controller-side timing adjustment unit, 131, 222... Communication cycle generating unit, 224 . . . timing master, 133, 225... Cycle check unit, 134, 226... switch, 314... terminal communication unit, 313 . . . Machine control unit, 315... Machine-side timing adjustment unit, 321 . . . Machine-side time generation unit, 322 . . . Machine-side cycle generation unit, 324 . . . Bugaboo.

Claims (23)

As a machine control system,
one or more machines constructed in real space and each realizing motion according to machine commands;
One or more controllers mounted on a virtual space of one or more servers communicating with the one or more machines and controlling the one or more machines, respectively.
to provide,
Each of the one or more controllers,
A motion module that executes a motion program with a control cycle to generate machine commands for a corresponding machine;
an addition unit for adding first cycle information to the machine command;
Synchronous communication section for transmitting the machine command to the corresponding machine
including,
Each of the one or more machines,
a terminal communication unit for receiving the machine command from the one or more servers;
A machine-side timing adjusting unit that stores the machine command received by the terminal communication unit and calls the machine command with a machine-side control cycle corresponding to first cycle information added to the machine command.
The machine control system comprising a. According to claim 1,
Each of the one or more machines,
A body that realizes motion;
a machine control unit for realizing a motion in the main body based on a machine command called by the machine-side timing adjusting unit and acquiring response information based on the motion realized by the main body;
Adder for adding second cycle information to the response information
Including more,
The terminal communication unit transmits the response information to the one or more servers,
The one or more servers include a controller-side timing adjusting unit that stores the response information received from the one or more machines and calls the response information in the control cycle corresponding to the second cycle information added to the response information. do,
wherein the motion module executes the motion program based on response information called by the controller-side timing adjusting unit. According to claim 1 or 2,
Each of the one or more controllers,
a timing transmitter for transmitting the cycle timing of the control cycle to the corresponding machine;
Each of the one or more machines,
and a machine-side cycle generation unit that generates the machine-side control cycle synchronized with the control cycle in a corresponding controller based on the cycle timing. According to claim 3,
Each of the one or more controllers,
a controller-side time generator for synchronizing with the time generated by the time server and generating a controller-side time;
A controller-side cycle generation unit that generates the control cycle based on the controller-side time.
Including more,
Each of the one or more machines,
a machine-side time generator configured to generate machine-side time in synchronism with the time generated by the time server;
wherein the machine-side cycle generation unit generates the machine-side control cycle based on the time generated by the machine-side time generation unit and the cycle timing. According to claim 4,
wherein the timing transmitting unit transmits cycle timing later than the previously transmitted cycle timing to the corresponding machine again, when the machine-side cycle generation unit of the corresponding machine fails to generate the machine-side control cycle. system. According to claim 2,
wherein the machine control unit controls the main body with a machine cycle having a shorter cycle length than the machine-side control cycle based on a machine command called by the machine-side timing adjustment unit. According to claim 2,
The machine control system includes a plurality of controllers as the one or more controllers,
wherein each of the plurality of controllers includes the controller-side timing adjusting unit. According to claim 7,
The one or more servers transmit the data to the corresponding machine if the data transmitted by the synchronous communication unit of one controller in the plurality of controllers is addressed to the corresponding machine, and transmits the data to the corresponding machine if the data is addressed to another controller. , a switch for transmitting the data to the controller-side timing adjusting unit of the other controller. According to claim 8,
The one controller,
The machine control system of claim 1, further comprising an asynchronous communication unit that transmits asynchronous communication data for another node including the other controller to the other node. According to any one of claims 7 to 9,
The machine control system, wherein at least one of the plurality of controllers further includes a controller-side cycle generation unit that generates the control cycle based on master timing. According to claim 10,
The machine control system of claim 1 , wherein the one or more servers further include a timing master generating the master timing. According to any one of claims 1 to 11,
The machine control system of claim 1 , wherein the one or more servers further include a cycle check unit configured to detect transmission delay of the machine command based on the first cycle information included in the machine command. According to claim 12,
and wherein the cycle check unit cancels transmission of the machine command when a transmission delay of the machine command is detected. According to claim 2,
The machine control system of claim 1 , wherein the one or more servers further include a cycle check unit that detects a delay in receiving the response information based on the second cycle information included in the response information. According to claim 12 or 13,
The one or more servers further include a communication cycle generation unit that generates a communication cycle synchronized with a control cycle of at least one of the one or more controllers;
and the cycle check unit detects a transmission delay of the machine command based on the first cycle information added to the machine command and cycle information of the communication cycle. As a program,
Executing a motion program with a control cycle to generate machine commands for a corresponding machine;
in the corresponding machine, adding first cycle information specifying in which machine-side control cycle the machine command is to be called, to the machine command;
Sending the machine command to which the first cycle information is added to the corresponding machine.
A program that mounts a controller that executes on the virtual space of a server that communicates with the corresponding machine. According to claim 16,
receiving, from the corresponding machine, response information to which second cycle information is added, from the corresponding machine;
Storing received response information and calling the response information in the control cycle corresponding to the second cycle information added to the response information.
run more,
A program that executes a motion program based on the called response information and mounts a controller that generates a machine command in a virtual space of the server. As a machine
A body that realizes motion;
a terminal communication unit that communicates with a server constituting a virtual space in which a controller is mounted, and receives a machine command to which cycle information is added by the controller from the server;
a machine-side timing adjusting unit that stores the machine command received by the terminal communication unit and calls the machine command in a control cycle corresponding to cycle information added to the machine command;
Based on the machine command called by the machine-side timing adjusting unit, the machine control unit realizes motion in the main body.
A machine comprising a. As a system,
a first device repeating the first processing;
A second device that communicates with the first device and repeats the second process
to provide,
The first device,
a first processing module for generating first information by the first processing;
a first addition unit for adding first cycle information to the first information;
A first communication unit for transmitting the first information to a second device
including,
The second device,
a second communication unit configured to receive the first information from the first device;
a timing adjustment unit that stores the first information received by the second communication unit and calls the first information in the second processing of a cycle corresponding to the first cycle information added to the first information;
A second processing module that executes the second processing based on the first information called by the timing adjustment unit.
A system that includes a. According to claim 19,
The second processing module generates second information by the second processing;
The second device further includes a second adder for adding second cycle information to the second information;
The second communication unit transmits the second information to the first device,
The first communication unit receives the second information from the second device,
The first device stores the second information received by the first communication unit and calls the second information in the first processing of a cycle corresponding to second cycle information added to the second information. Further comprising a first timing adjustment unit,
wherein the first processing module executes the first processing based on the second information called by the first timing adjustment unit. As a device,
a first processing module that repeats generating first information by the first processing;
A second device that repeats a second process, comprising: a first addition unit for adding first cycle information specifying in which cycle the first information is to be called in the second process of a cycle to the first information;
A communication unit configured to transmit the first information to which the first cycle information is added by the first adding unit to the second device.
A device comprising a. According to claim 21,
The communication unit receives, from the second device, second information generated by the second device through the second processing and to which second cycle information is added, and
The device,
a first timing adjustment unit that stores the second information received by the communication unit and calls the second information in a first process of a cycle corresponding to second cycle information added to the second information;
wherein the first processing module executes the first processing based on the second information called by the first timing adjustment unit to generate the first information. As a device,
a communication unit configured to receive, from the first device, first information generated by a first device repeating a first process, to which cycle information is added, from the first device;
a timing adjustment unit that stores the first information received by the communication unit and calls the first information in a second process of a cycle corresponding to the cycle information added to the first information;
A processing module configured to execute the second processing based on the first information called by the timing adjusting unit.
A device comprising a.

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